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navigator: use reference instead of pointer to pass the vehicle command to publish

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This commit is contained in:
Matthias Grob
2025-04-25 14:18:04 +02:00
committed by Silvan Fuhrer
parent 672d228d79
commit dfed3970d4
13 changed files with 70 additions and 70 deletions
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6
docs/en/camera/camera_architecture.md
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@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

6
docs/en/camera/mavlink_v2_camera.md
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@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vehicle_command);
_navigator.publish_vehicle_command(vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

6
docs/ko/camera/camera_architecture.md
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@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

6
docs/ko/camera/mavlink_v2_camera.md
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@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vcmd);
_navigator->publish_vehicle_command(vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vcmd) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

6
docs/uk/camera/camera_architecture.md
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@@ -88,9 +88,9 @@ PX4 повторно видає пункти камери, знайдені в
- Предмети місії виконуються, коли вони активовані.
- `issue_command(_mission_item)` викликається в кінці цього, щоб відправити поточну непунктову команду
- [`MissionBlock::видача_команди(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command` для публікації її (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command` для публікації її (`_navigator->publish_vehicle_command(vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
- Усі інші просто публікуються під стандартний компонент ID.
- Тема UORB `VehicleCommand` публікується.

4
docs/uk/camera/mavlink_v2_camera.md
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@@ -86,8 +86,8 @@ MissionBlock::issue_command(const mission_item_s &item) => https://github.com/P
_navigator->publish_vehicle_command(&vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

6
docs/zh/camera/camera_architecture.md
View File

@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
- Mission items are executed when set active.
- `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
- [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(&vcmd);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
- Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
- [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
- For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
- All others just get published to default component ID.
- The `VehicleCommand` UORB topic is published.

6
docs/zh/camera/mavlink_v2_camera.md
View File

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
Issuing command:
MissionBlock::issue_command(const mission_item_s &item) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
At end this publishes the current vehicle command
_navigator->publish_vehicle_command(&vehicle_command);
_navigator->publish_vehicle_command(vehicle_command);
Publishing command:
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command) => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
All others just get published as-is
-->

2
src/modules/navigator/land.cpp
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@@ -119,6 +119,6 @@ Land::on_active()
// and thus always climb MIS_LND_ABRT_ALT
vehicle_command.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
_navigator->publish_vehicle_command(&vehicle_command);
_navigator->publish_vehicle_command(vehicle_command);
}
}

2
src/modules/navigator/mission_base.cpp
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@@ -922,7 +922,7 @@ MissionBase::do_abort_landing()
vehicle_command.param5 = _mission_item.lat;
vehicle_command.param6 = _mission_item.lon;
vehicle_command.param7 = alt_sp;
_navigator->publish_vehicle_command(&vehicle_command);
_navigator->publish_vehicle_command(vehicle_command);
}
void MissionBase::publish_navigator_mission_item()

4
src/modules/navigator/mission_block.cpp
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@@ -549,7 +549,7 @@ MissionBlock::issue_command(const mission_item_s &item)
}
}
_navigator->publish_vehicle_command(&vehicle_command);
_navigator->publish_vehicle_command(vehicle_command);
if (item_has_timeout(item)) {
_timestamp_command_timeout = hrt_absolute_time();
@@ -785,7 +785,7 @@ MissionBlock::set_land_item(struct mission_item_s *item)
vehicle_command.command = NAV_CMD_DO_VTOL_TRANSITION;
vehicle_command.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
vehicle_command.param2 = 0.f; // normal unforced transition
_navigator->publish_vehicle_command(&vehicle_command);
_navigator->publish_vehicle_command(vehicle_command);
}
/* set the land item */

2
src/modules/navigator/navigator.h
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@@ -137,7 +137,7 @@ public:
*
* @param vehicle_command Vehicle command to publish
*/
void publish_vehicle_command(vehicle_command_s *vehicle_command);
void publish_vehicle_command(vehicle_command_s &vehicle_command);
#if CONFIG_NAVIGATOR_ADSB
/**

84
src/modules/navigator/navigator_main.cpp
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@@ -665,7 +665,7 @@ void Navigator::run()
vehicle_command_s vehicle_command{};
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vehicle_command.param1 = _mission.get_land_start_index();
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
} else {
PX4_WARN("planned mission landing not available");
@@ -867,7 +867,7 @@ void Navigator::run()
vehicle_command_s vehicle_command{};
vehicle_command.command = NAV_CMD_DO_VTOL_TRANSITION;
vehicle_command.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
mavlink_log_info(&_mavlink_log_pub, "Transition to hover mode and descend.\t");
events::send(events::ID("navigator_transition_descend"), events::Log::Critical,
"Transition to hover mode and descend");
@@ -1227,13 +1227,13 @@ void Navigator::take_traffic_conflict_action()
case 2: {
_rtl.set_return_alt_min(true);
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_RETURN_TO_LAUNCH;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
break;
}
case 3: {
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
break;
}
@@ -1241,7 +1241,7 @@ void Navigator::take_traffic_conflict_action()
case 4: {
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
break;
}
@@ -1392,32 +1392,32 @@ void Navigator::publish_navigator_status()
}
}
void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)
void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)
{
vehicle_command->timestamp = hrt_absolute_time();
vehicle_command->source_system = _vstatus.system_id;
vehicle_command->source_component = _vstatus.component_id;
vehicle_command->target_system = _vstatus.system_id;
vehicle_command->confirmation = false;
vehicle_command->from_external = false;
vehicle_command.timestamp = hrt_absolute_time();
vehicle_command.source_system = _vstatus.system_id;
vehicle_command.source_component = _vstatus.component_id;
vehicle_command.target_system = _vstatus.system_id;
vehicle_command.confirmation = false;
vehicle_command.from_external = false;
int target_camera_component_id;
// The camera commands are not processed on the autopilot but will be
// sent to the mavlink links to other components.
switch (vehicle_command->command) {
switch (vehicle_command.command) {
case NAV_CMD_IMAGE_START_CAPTURE:
if (static_cast<int>(vehicle_command->param3) == 1) {
if (static_cast<int>(vehicle_command.param3) == 1) {
// When sending a single capture we need to include the sequence number, thus camera_trigger needs to handle this command
vehicle_command->command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
vehicle_command->param1 = 0.f; // Session control hide lens
vehicle_command->param2 = 0.f; // Zoom absolute position
vehicle_command->param3 = 0.f; // Zoom step
vehicle_command->param4 = 0.f; // Focus lock
vehicle_command->param5 = 1.; // Shoot command
vehicle_command->param6 = 0.; // Command identity
vehicle_command->param7 = 0.f; // Shot identifier
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
vehicle_command.param1 = 0.f; // Session control hide lens
vehicle_command.param2 = 0.f; // Zoom absolute position
vehicle_command.param3 = 0.f; // Zoom step
vehicle_command.param4 = 0.f; // Focus lock
vehicle_command.param5 = 1.; // Shoot command
vehicle_command.param6 = 0.; // Command identity
vehicle_command.param7 = 0.f; // Shot identifier
} else {
// We are only capturing multiple if param3 is 0 or > 1.
@@ -1425,65 +1425,65 @@ void Navigator::publish_vehicle_command(vehicle_command_s *vehicle_command)
_is_capturing_images = true;
}
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vehicle_command->target_component = target_camera_component_id;
vehicle_command.target_component = target_camera_component_id;
} else {
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_IMAGE_STOP_CAPTURE:
_is_capturing_images = false;
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vehicle_command->target_component = target_camera_component_id;
vehicle_command.target_component = target_camera_component_id;
} else {
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_SET_CAMERA_MODE:
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vehicle_command->target_component = target_camera_component_id;
vehicle_command.target_component = target_camera_component_id;
} else {
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_SET_CAMERA_SOURCE:
target_camera_component_id = static_cast<int>(vehicle_command->param1); // Target id from param 1
target_camera_component_id = static_cast<int>(vehicle_command.param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vehicle_command->target_component = target_camera_component_id;
vehicle_command.target_component = target_camera_component_id;
} else {
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
vehicle_command->target_component = 100; // MAV_COMP_ID_CAMERA
vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
break;
default:
vehicle_command->target_component = 0;
vehicle_command.target_component = 0;
break;
}
_vehicle_cmd_pub.publish(*vehicle_command);
_vehicle_cmd_pub.publish(vehicle_command);
}
void Navigator::publish_distance_sensor_mode_request()
@@ -1535,7 +1535,7 @@ void Navigator::acquire_gimbal_control()
vehicle_command.param2 = _vstatus.component_id;
vehicle_command.param3 = -1.f; // Leave secondary control unchanged
vehicle_command.param4 = -1.f;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
}
void Navigator::release_gimbal_control()
@@ -1546,7 +1546,7 @@ void Navigator::release_gimbal_control()
vehicle_command.param2 = -3.f;
vehicle_command.param3 = -1.f; // Leave secondary control unchanged
vehicle_command.param4 = -1.f;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
}
@@ -1557,7 +1557,7 @@ Navigator::stop_capturing_images()
vehicle_command_s vehicle_command{};
vehicle_command.command = NAV_CMD_IMAGE_STOP_CAPTURE;
vehicle_command.param1 = 0.f;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
// _is_capturing_images is reset inside publish_vehicle_command.
}
@@ -1610,7 +1610,7 @@ void Navigator::disable_camera_trigger()
// Pause trigger
vehicle_command.param1 = -1.f;
vehicle_command.param3 = 1.f;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
}
void Navigator::set_gimbal_neutral()
@@ -1622,7 +1622,7 @@ void Navigator::set_gimbal_neutral()
vehicle_command.param3 = NAN; // Don't set any angular velocities
vehicle_command.param4 = NAN;
vehicle_command.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
publish_vehicle_command(&vehicle_command);
publish_vehicle_command(vehicle_command);
}
void Navigator::sendWarningDescentStoppedDueToTerrain()